public static void StateIntegration_AT(SINS_State SINSstate, Kalman_Vars KalmanVars, SINS_State SINSstate_OdoMod) { double[] fz = new double[3], Wz = new double[3], u = new double[3], tempV = new double[3], Wz_avg = new double[3]; double[] Vx_0 = new double[3], Vx_0_prev = new double[3]; Matrix AT_z_xi = new Matrix(3, 3); Matrix B_x_eta = new Matrix(3, 3); Matrix dAT = new Matrix(3, 3); Matrix D_x_z = new Matrix(3, 3); Matrix W_x_xi = new Matrix(3, 3); Matrix C_eta_xi = new Matrix(3, 3); Matrix Hat1 = new Matrix(3, 3); Matrix Hat2 = new Matrix(3, 3); Matrix E = Matrix.UnitMatrix(3); Matrix dMatrix = new Matrix(3, 3); double W_z_abs, Omega_x_abs, dlt, dlt2, Altitude, Altitude_prev, dh, dVx, dVy, dVh, Azimth; CopyMatrix(AT_z_xi, SINSstate.AT); CopyMatrix(B_x_eta, SINSstate.A_x0n); SINSstate.A_nxi = SimpleOperations.A_ne(SINSstate.Time, SINSstate.Longitude_Start); Altitude = SINSstate.Height; Altitude_prev = SINSstate.Altitude_prev; fz[1] = SINSstate.F_z[1]; fz[2] = SINSstate.F_z[2]; fz[0] = SINSstate.F_z[0]; Wz[1] = SINSstate.W_z[1]; Wz[2] = SINSstate.W_z[2]; Wz[0] = SINSstate.W_z[0]; // --- в обратной связи используется накопленные оценки ошибок ньютонометров в горизонте fz[0] -= SINSstate.Cumulative_KalmanErrorVector[(SINSstate.value_iMx_f0_12 + 0)]; fz[1] -= SINSstate.Cumulative_KalmanErrorVector[(SINSstate.value_iMx_f0_12 + 1)]; // --- в обратной связи используется накопленные оценка ошибки ньютонометра f_3 в вертикальном канале fz[2] -= SINSstate.Vertical_Cumulative_KalmanErrorVector[SINSstate.Vertical_f0_3]; // --- то же самое для ДУС, только все с горизонтального канала for (int i = 0; i < 3; i++) { Wz[i] += SINSstate.Cumulative_KalmanErrorVector[SINSstate.value_iMx_Nu0 + i]; } // --- вычитание из показаний датчиков значений нулей, полученных алгебраической выставкой на начальной выставке for (int i = 0; i < 3; i++) { fz[i] = fz[i] - SINSstate.AlignAlgebraZeroF[i]; } for (int i = 0; i < 3; i++) { Wz[i] = Wz[i] + SINSstate.AlignAlgebraDrifts[i]; } CopyArray(SINSstate.F_z, fz); CopyArray(SINSstate.W_z, Wz); CopyArray(Vx_0, SINSstate.Vx_0); CopyArray(Vx_0_prev, SINSstate.Vx_0_prev); SINSstate.R_e = RadiusE(SINSstate.Latitude, SINSstate.Height); SINSstate.R_n = RadiusN(SINSstate.Latitude, SINSstate.Height); SINSstate.u_x = U_x0(SINSstate.Latitude); u[0] = 0.0; u[1] = SimpleData.U * Math.Cos(SINSstate.Latitude); u[2] = SimpleData.U * Math.Sin(SINSstate.Latitude); //-------------ИНТЕГРИРОВАНИЕ МАТРИЦЫ AT_Z_XI И ПЕРВОЕ ВЫЧИСЛЕНИЕ МАТРИЦЫ D_X_Z--------- for (int i = 0; i < 3; i++) { fz[i] = (fz[i] + SINSstate.F_z_prev[i]) / 2.0; Wz[i] = (Wz[i] + SINSstate.W_z_prev[i]) / 2.0; } W_z_abs = Math.Sqrt(Wz[0] * Wz[0] + Wz[1] * Wz[1] + Wz[2] * Wz[2]); dlt = Math.Sin(W_z_abs * SINSstate.timeStep) / W_z_abs; dlt2 = (1.0 - Math.Cos(W_z_abs * SINSstate.timeStep)) / (W_z_abs * W_z_abs); Hat1 = Matrix.SkewSymmetricMatrix(Wz); Hat2 = Matrix.SkewSymmetricMatrixSquare(Wz); // --- Интегрирование матрицы ориентации AT_z_xi приборного относительно инерциального трехгранника CopyMatrix(dMatrix, (E + Hat1 * dlt + Hat2 * dlt2)); CopyMatrix(AT_z_xi, (dMatrix * AT_z_xi)); //Нормировка for (int i = 0; i < 3; i++) { tempV[i] = Math.Sqrt(AT_z_xi[i, 0] * AT_z_xi[i, 0] + AT_z_xi[i, 1] * AT_z_xi[i, 1] + AT_z_xi[i, 2] * AT_z_xi[i, 2]); for (int j = 0; j < 3; j++) { AT_z_xi[i, j] = AT_z_xi[i, j] / tempV[i]; } } CopyMatrix(SINSstate.AT, AT_z_xi); // --- Вычисление матрицы ориентации D_x_z приборного относительно географии CopyMatrix(W_x_xi, B_x_eta * SINSstate.A_nxi); CopyMatrix(D_x_z, W_x_xi * SINSstate.AT.Transpose()); //-------------------------------------------------------------------------------------- //---------------------------------ИНТЕГРИРОВАНИЕ СКОРОСТЕЙ---------------------------- CopyArray(SINSstate.F_x, D_x_z * fz); SINSstate.g = SimpleData.Gravity_Normal * (1.0 + 0.0053020 * Math.Pow(Math.Sin(SINSstate.Latitude), 2) - 0.000007 * Math.Pow(Math.Sin(2 * SINSstate.Latitude), 2)) - 0.00014 - 2 * 0.000001538 * Altitude; dVx = SINSstate.F_x[0] + Vx_0[1] * (2.0 * u[2] + SINSstate.Omega_x[2]) - Vx_0[2] * (2.0 * u[1] + SINSstate.Omega_x[1]); dVy = SINSstate.F_x[1] - Vx_0[0] * (2.0 * u[2] + SINSstate.Omega_x[2]) + Vx_0[2] * (2.0 * u[0] + SINSstate.Omega_x[0]); Vx_0[0] += dVx * SINSstate.timeStep; Vx_0[1] += dVy * SINSstate.timeStep; if (SimpleOperations.AbsoluteVectorValue(Vx_0) > 0.1) { double[] Vs = new double[3], Vx0 = new double[3]; Vx0[0] = Vx_0[0]; Vx0[1] = Vx_0[1]; SimpleOperations.CopyArray(Vs, SINSstate.A_sx0 * Vx0); SINSstate.distance_by_SINS += Vs[1] * SINSstate.timeStep; } //-------------------------------------------------------------------------------------- //--- Интегрируем вертикальную скорость ---// if (SINSstate.flag_AutonomouseSolution == false) { dVh = SINSstate.F_x[2] - SINSstate.g + (Vx_0[0] + Vx_0_prev[0]) / 2.0 * (2 * u[1] + SINSstate.Omega_x[1]) - (Vx_0[1] + Vx_0_prev[1]) / 2.0 * (2 * u[0] + SINSstate.Omega_x[0]); Vx_0[2] += dVh * SINSstate.timeStep; dh = (Vx_0[2] + Vx_0_prev[2]) / 2.0; Altitude += dh * SINSstate.timeStep; } //---------ИНТЕГРИРОВАНИЕ МАТРИЦЫ B_X_ETA И ВТОРОЕ ВЫЧИСЛЕНИЕ МАТРИЦЫ D_X_Z-------------- SINSstate.Omega_x[0] = -(Vx_0[1] + Vx_0_prev[1]) / 2.0 / SINSstate.R_n; SINSstate.Omega_x[1] = (Vx_0[0] + Vx_0_prev[0]) / 2.0 / SINSstate.R_e; SINSstate.Omega_x[2] = Math.Tan(SINSstate.Latitude) * SINSstate.Omega_x[1]; Omega_x_abs = Math.Sqrt(SINSstate.Omega_x[0] * SINSstate.Omega_x[0] + SINSstate.Omega_x[1] * SINSstate.Omega_x[1] + SINSstate.Omega_x[2] * SINSstate.Omega_x[2]); if (Omega_x_abs != 0) { dlt = Math.Sin(Omega_x_abs * SINSstate.timeStep) / Omega_x_abs; dlt2 = (1.0 - Math.Cos(Omega_x_abs * SINSstate.timeStep)) / (Omega_x_abs * Omega_x_abs); } else { dlt = 1.0; dlt2 = 0.0; } Hat1 = Matrix.SkewSymmetricMatrix(SINSstate.Omega_x); Hat2 = Matrix.SkewSymmetricMatrixSquare(SINSstate.Omega_x); CopyMatrix(dMatrix, E + Hat1 * dlt + Hat2 * dlt2); CopyMatrix(B_x_eta, dMatrix * B_x_eta); //Нормировка for (int i = 0; i < 3; i++) { tempV[i] = Math.Sqrt(B_x_eta[i, 0] * B_x_eta[i, 0] + B_x_eta[i, 1] * B_x_eta[i, 1] + B_x_eta[i, 2] * B_x_eta[i, 2]); for (int j = 0; j < 3; j++) { B_x_eta[i, j] = B_x_eta[i, j] / tempV[i]; } } // --- Повторное вычисление матрицы ориентации D_x_z приборного относительно географии CopyMatrix(W_x_xi, B_x_eta * SINSstate.A_nxi); CopyMatrix(D_x_z, W_x_xi * SINSstate.AT.Transpose()); //----------------Вычисление углов и переприсвоение матриц--------------------------- CopyMatrix(SINSstate.A_sx0, D_x_z.Transpose()); CopyMatrix(SINSstate.A_x0s, D_x_z); CopyMatrix(SINSstate.A_x0n, B_x_eta); CopyMatrix(SINSstate.A_nx0, B_x_eta.Transpose()); //---ОПРЕДЕЛЕНИЕ ГЕОГРАФИЧЕСКИХ КООРДИНАТ--- SINSstate.Longitude = Math.Atan2(SINSstate.A_x0n[2, 1], SINSstate.A_x0n[2, 0]); SINSstate.Latitude = Math.Atan2(SINSstate.A_x0n[2, 2], Math.Sqrt(SINSstate.A_x0n[0, 2] * SINSstate.A_x0n[0, 2] + SINSstate.A_x0n[1, 2] * SINSstate.A_x0n[1, 2])); Azimth = Math.Atan2(SINSstate.A_x0n[0, 2], SINSstate.A_x0n[1, 2]); SINSstate.Altitude_prev = SINSstate.Height; SINSstate.Height = Altitude; //SINSstate.Heading = gkurs - Azimth; SINSstate.Heading = Math.Atan2(SINSstate.A_sx0[1, 0], SINSstate.A_sx0[1, 1]); SINSstate.Roll = -Math.Atan2(SINSstate.A_sx0[0, 2], SINSstate.A_sx0[2, 2]); SINSstate.Pitch = Math.Atan2(SINSstate.A_sx0[1, 2], Math.Sqrt(SINSstate.A_sx0[0, 2] * SINSstate.A_sx0[0, 2] + SINSstate.A_sx0[2, 2] * SINSstate.A_sx0[2, 2])); //SINSstate.Azimth = Azimth; SINSstate.R_e = RadiusE(SINSstate.Latitude, SINSstate.Height); SINSstate.R_n = RadiusN(SINSstate.Latitude, SINSstate.Height); SINSstate.u_x = U_x0(SINSstate.Latitude); CopyArray(SINSstate.Vx_0_prev, SINSstate.Vx_0); CopyArray(SINSstate.Vx_0, Vx_0); CopyArray(SINSstate.F_z_prev, SINSstate.F_z); CopyArray(SINSstate.W_z_prev, SINSstate.W_z); CopyArray(SINSstate.W_x, SINSstate.A_x0s * Wz); //-------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------- //--------- ДЛЯ SINSstate_OdoModel - одометрического счисления ---------// SimpleOperations.CopyArray(SINSstate_OdoMod.Vx_0_prev, SINSstate_OdoMod.Vx_0); SimpleOperations.CopyArray(SINSstate.OdoSpeed_x0, SINSstate.A_x0s * SINSstate.OdoSpeed_s); SimpleOperations.CopyArray(SINSstate_OdoMod.OdoSpeed_s, SINSstate.OdoSpeed_s); //--- считаем для одометрического счисления свою матрицу ориентации SINSstate_OdoMod.A_x0s ---// SimpleOperations.CopyMatrix(W_x_xi, SINSstate_OdoMod.A_x0n * SINSstate.A_nxi); SimpleOperations.CopyMatrix(SINSstate_OdoMod.A_x0s, W_x_xi * SINSstate.AT.Transpose()); SimpleOperations.CopyArray(SINSstate_OdoMod.OdoSpeed_x0, SINSstate_OdoMod.A_x0s * SINSstate.OdoSpeed_s); //---------ВЫЧИСЛЕНИЕ МАТРИЦЫ B_X_ETA И ВТОРОЕ ВЫЧИСЛЕНИЕ МАТРИЦЫ D_X_Z для одометрического счисления-------------- { SimpleOperations.CopyArray(SINSstate_OdoMod.Vx_0, SINSstate_OdoMod.OdoSpeed_x0); SINSstate_OdoMod.Omega_x[0] = -(SINSstate_OdoMod.Vx_0[1] + SINSstate_OdoMod.Vx_0_prev[1]) / 2.0 / SINSstate_OdoMod.R_n; SINSstate_OdoMod.Omega_x[1] = (SINSstate_OdoMod.Vx_0[0] + SINSstate_OdoMod.Vx_0_prev[0]) / 2.0 / SINSstate_OdoMod.R_e; SINSstate_OdoMod.Omega_x[2] = Math.Tan(SINSstate_OdoMod.Latitude) * SINSstate_OdoMod.Omega_x[1]; //--- Производим одометрическое счисление координат, если пришло обновление показаний одометра ---// if (SINSstate.OdometerData.odometer_left.isReady == 1) { double[] dS_x = new double[3]; SimpleOperations.CopyArray(dS_x, SINSstate_OdoMod.A_x0s * SINSstate.OdometerVector); SINSstate_OdoMod.Latitude = SINSstate_OdoMod.Latitude + dS_x[1] / SimpleOperations.RadiusN(SINSstate_OdoMod.Latitude, SINSstate_OdoMod.Height); SINSstate_OdoMod.Longitude = SINSstate_OdoMod.Longitude + dS_x[0] / SimpleOperations.RadiusE(SINSstate_OdoMod.Latitude, SINSstate_OdoMod.Height) / Math.Cos(SINSstate_OdoMod.Latitude); SINSstate_OdoMod.Height = SINSstate_OdoMod.Height + dS_x[2]; } //----------------Вычисление углов и переприсвоение матриц--------------------------- SINSstate_OdoMod.A_x0n = SimpleOperations.A_x0n(SINSstate_OdoMod.Latitude, SINSstate_OdoMod.Longitude); SimpleOperations.CopyMatrix(SINSstate_OdoMod.A_nx0, SINSstate_OdoMod.A_x0n.Transpose()); SimpleOperations.CopyMatrix(W_x_xi, SINSstate_OdoMod.A_x0n * SINSstate.A_nxi); SimpleOperations.CopyMatrix(SINSstate_OdoMod.A_x0s, W_x_xi * SINSstate.AT.Transpose()); SimpleOperations.CopyMatrix(SINSstate_OdoMod.A_sx0, SINSstate_OdoMod.A_x0s.Transpose()); } SINSstate_OdoMod.R_e = RadiusE(SINSstate_OdoMod.Latitude, SINSstate_OdoMod.Height); SINSstate_OdoMod.R_n = RadiusN(SINSstate_OdoMod.Latitude, SINSstate_OdoMod.Height); //-------------------------------------------------------------------------------------- }